PSO-DVSF -mt: AN OPTIMIZED MOBILE ROBOT MOTION PLANNING APPROACH FOR TRACKING MOVING TARGETS

Safa Ziadi and Mohamed Njah

Keywords

PSODVSF2mt, PSODVSF2, robot motion planning, moving target, dynamic environments, APF and GADVSF2mt

Abstract

The particle swarm optimization dynamic variable speed force field (PSO-DVSF2) is a mobile robot motion planning approach that we have previously proposed for static and dynamic environments with a fixed target. In this paper, the capacities of PSO-DVSF2 are expanded to cover moving targets in known environments. We affect to the new motion planning approach the name “PSO-DVSF2mt”(PSO-DVSF2 for moving targets). PSO-DVSF2-mt designs an optimal path for a mobile robot to attain a moving target whatever the environment (static or dynamic). PSO continually changes the parameters of DVSF2-mt and the velocity of the robot to find a secure path that brings it closer to the moving target while avoiding static and dynamic obstacles. Simulation results prove the efficacy of this new version of PSO-DVSF2 to follow moving targets. Also, a comparative study with the famous artificial potential field and genetic algorithm (GA)-DVSF2-mt motion planning approaches prove the quality of the solution delivered with PSO-DVSF2-mt. We name GA-DVSF2-mt a motion planning approach identical to PSO-DVSF2-mt but optimized with GA instead of PSO.

Important Links:



Go Back